multi_robot_router::SingleRobotRouter Class Reference

#include <single_robot_router.h>

Public Member Functions
SegmentExpander::CollisionResolverType	getCollisionResolverType () const
	returns the CollisionResolverType More...
bool	getLastResult ()
	returns the result of the last planning attempt More...
const std::vector< uint32_t > &	getRobotCollisions () const
	returns the found robot collisions while planning More...
bool	getRouteCandidate (const uint32_t _start, const uint32_t _goal, const RouteCoordinatorWrapper &path_coordinator, const uint32_t _robotDiameter, const float &_robotSpeed, std::vector< RouteVertex > &path, const uint32_t _maxIterations)
	calculates a route candidate coordinated with other robots by the given route Coordinated More...
void	initSearchGraph (const std::vector< Segment > &_graph, const uint32_t minSegmentWidth_=0)
	generates the search graph out of the given graph (and optimizes it) More...
void	setCollisionResolver (const SegmentExpander::CollisionResolverType cRes)
	sets the collisionResolver used More...
	SingleRobotRouter ()
	constructor More...
	SingleRobotRouter (const SingleRobotRouter &srr)
	copy constructor More...

Private Member Functions
void	resetAttempt ()

Private Attributes
bool	lastAttempt_ = false
std::vector< RouteVertex >	path_
uint32_t	robotDiameter_
std::vector< std::unique_ptr< Vertex > >	searchGraph_
SegmentExpander	segment_expander_
Traceback	traceback_

Detailed Description

Definition at line 49 of file single_robot_router.h.

Constructor & Destructor Documentation

multi_robot_router::SingleRobotRouter::SingleRobotRouter

(

)

constructor

Definition at line 35 of file single_robot_router.cpp.

multi_robot_router::SingleRobotRouter::SingleRobotRouter

(

const SingleRobotRouter &

srr

)

copy constructor

Definition at line 39 of file single_robot_router.cpp.

Member Function Documentation

SegmentExpander::CollisionResolverType multi_robot_router::SingleRobotRouter::getCollisionResolverType

(

)

const

returns the CollisionResolverType

Definition at line 48 of file single_robot_router.cpp.

bool multi_robot_router::SingleRobotRouter::getLastResult

(

)

returns the result of the last planning attempt

Definition at line 98 of file single_robot_router.cpp.

const std::vector< uint32_t > & multi_robot_router::SingleRobotRouter::getRobotCollisions

(

)

const

returns the found robot collisions while planning

Returns

the found robot collisions

Definition at line 118 of file single_robot_router.cpp.

bool multi_robot_router::SingleRobotRouter::getRouteCandidate	(	const uint32_t	_start,
		const uint32_t	_goal,
		const RouteCoordinatorWrapper &	path_coordinator,
		const uint32_t	_robotDiameter,
		const float &	_robotSpeed,
		std::vector< RouteVertex > &	path,
		const uint32_t	_maxIterations
	)

calculates a route candidate coordinated with other robots by the given route Coordinated

Parameters

_start	the start vertex
_goal	the goal vertex
path_coordinator	the used route coordinater to coordinate with other robots
_robotDiameter	the diameter of the robot
_robotSpeed	the selected robot speed (multiplier)
path	the found route candidate
_maxIterations	the maximum allowed iterations of the loop

Returns

returns true if a route candidate is found

Definition at line 53 of file single_robot_router.cpp.

void multi_robot_router::SingleRobotRouter::initSearchGraph	(	const std::vector< Segment > &	_graph,
		const uint32_t	minSegmentWidth_ = 0
	)

generates the search graph out of the given graph (and optimizes it)

Parameters

_graph	the main graph
minSegmentWidth_	used to optimize the graph (e.g. if no robot has less than d in size all segments with less space than d can be removed)

Definition at line 103 of file single_robot_router.cpp.

void multi_robot_router::SingleRobotRouter::resetAttempt ( )

private

Definition at line 85 of file single_robot_router.cpp.

void multi_robot_router::SingleRobotRouter::setCollisionResolver

(

const SegmentExpander::CollisionResolverType

cRes

)

sets the collisionResolver used

Definition at line 43 of file single_robot_router.cpp.

Member Data Documentation

bool multi_robot_router::SingleRobotRouter::lastAttempt_ = false

private

Definition at line 104 of file single_robot_router.h.

std::vector<RouteVertex> multi_robot_router::SingleRobotRouter::path_

private

Definition at line 105 of file single_robot_router.h.

uint32_t multi_robot_router::SingleRobotRouter::robotDiameter_

private

Definition at line 101 of file single_robot_router.h.

std::vector<std::unique_ptr<Vertex> > multi_robot_router::SingleRobotRouter::searchGraph_

private

Definition at line 103 of file single_robot_router.h.

SegmentExpander multi_robot_router::SingleRobotRouter::segment_expander_

private

Definition at line 99 of file single_robot_router.h.

Traceback multi_robot_router::SingleRobotRouter::traceback_

private

Definition at line 100 of file single_robot_router.h.

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The documentation for this class was generated from the following files:

• single_robot_router.h
• single_robot_router.cpp